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Digital filtering method based on HMM/KF (Hidden Markova Model/Kalman Filter) steady-state feedback

A digital filtering, steady-state technology, applied in the direction of digital technology network, impedance network, electrical components, etc., can solve problems such as difficulty in improving accuracy

Inactive Publication Date: 2013-11-20
HARBIN ENG UNIV
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Problems solved by technology

Although this scheme has good real-time performance, it is difficult to improve the accuracy

Method used

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  • Digital filtering method based on HMM/KF (Hidden Markova Model/Kalman Filter) steady-state feedback
  • Digital filtering method based on HMM/KF (Hidden Markova Model/Kalman Filter) steady-state feedback
  • Digital filtering method based on HMM/KF (Hidden Markova Model/Kalman Filter) steady-state feedback

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with accompanying drawing:

[0031] A digital filtering method based on HMM / KF steady-state feedback for fiber optic gyroscope signals in inertial navigation systems, comprising the following steps:

[0032] Step 1: Establish a second-order HMM / KF filter model for the sampled output signal of the fiber optic gyroscope, and use the established filter model to estimate the original output signal of the fiber optic gyroscope;

[0033] Step 2: Monitor the parameter matrix of the HMM / KF filtering process, and obtain the steady-state filter gain matrix when the HMM / KF filter reaches a steady state K k = k 11 k 12 k 21 ...

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Abstract

The invention relates to a digital filtering method based on HMM / KF (Hidden Markova Model / Kalman Filter) steady-state feedback. The method comprises the following steps: establishing a two-order HMM / KF filter equation for a sampling output signal of an optical gyroscope; monitoring the parameter matrix of an HMM / KF filtering process; performing equivalent digital processing on a steady-state HMM / KF filtering model; and establishing a four-order Butterworth IIR low-pass filtering model for the original output signal of the optical gyroscope, filtering and denoising the output signal of the optical gyroscope with high-frequency noise by using the equivalent cut-off frequency fc of the HMM / KF steady-state model. According to the method, the characteristics of high stability of a Hidden Markov Model and high instantaneity of a Kalman filter are combined, and a subsequent four-order IIR filter is provided with filtering cut-off frequency intelligently and stably in real time, so that the accuracy of a system is increased remarkably; and moreover, the time delay of the four-order IIR filter is small, so that the requirement of instantaneity of an inertial navigation system is further met.

Description

technical field [0001] The invention relates to a digital filtering method for steady-state feedback of a Kalman filter based on a hidden Markov model for an optical fiber gyro signal in an inertial navigation system. Background technique [0002] Inertial Navigation System (INS for short) has been widely used in various fields such as national defense. With the development of inertial technology, optical sensors have become a new generation of inertial measurement components, especially Fiber Optic Gyroscope (FOG for short) has become a low-to-medium precision The inertial measurement element of choice for inertial navigation systems. The output precision of the inertial element will be directly related to the accuracy of the navigation system, so while meeting the real-time requirements of the inertial navigation system, it is necessary to find ways to improve the output accuracy of the inertial element. The present invention proposes a method of combining a Hidden marko...

Claims

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Application Information

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IPC IPC(8): H03H17/02
Inventor 于飞阮双双高伟奔粤阳杨晓龙李敬春迟凤阳曹通
Owner HARBIN ENG UNIV
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